State Variable Representations for LTI Systems
Definitions
State: The state of a dynamic system is the smallest set of
variables called state variables such that the knowledge of
with the knowledge of input for t ≥ 𝑡0 , completely
these variables at time t = to (Initial condition), together
determines the behavior of the system for any time 𝑡 ≥ 𝑡0 .
State Variables: A set of variables which describes the
system at any time instant are called state variables
State vector: A vector whose elements are the state
variables
State space: The n-dimensional space whose co-ordinate
axes consists of the x1 axis, x2 axis,.... xn axis, (where x1 ,
x2,..... xn are state variables:) is called a state space.
State space
State space analysis is an powerful and modern approach for the
design and analysis of control systems or communication systems.
The conventional or old methods for the design and analysis of
control systems is based on transfer function method.
The transfer function method for design and analysis had many
drawbacks such as..
Transfer function is defined under zero initial conditions
Applicable to LTI systems
SISO systems
Does not provide the information regarding internal state
of the system.
Initial conditions can be incorporated in the system design
State equations are highly compatible for simulation on analog or
digital computers
Advantages of state variable analysis
State variable analysis can be applicable to:
Linear systems and Non-linear system
Time variant systems and Time invariant systems
Multiple input multiple output systems (MIMO)
This gives the idea about the internal state of the system
Selection of state variables
The state variables of a system are not unique.
There are many choices for a given system.
Guide lines:
1. For a physical systems, the number of state variables
needed to represent the system must be equal to the
number of energy storing elements present in the
system.
2. If a system is represented by a linear constant coefficient
differential equation, then the number of state variables
needed to represent the system must be equal to the
order of the differential equation.
3. If a system is represented by a transfer function, then the
number of sate variables needed to represent the system
must be equal to the highest power of S in the
denominator of the transfer function.
State space Representation using Physical variables
In state-space modeling of the systems, the choice of sate
variables is arbitrary.
One of the possible choice is physical variables.
The state equations are obtained from the differential
equations governing the system.
Steps for analysis State space
1. Derive the differential equation
[Link] the state variable x(t)
3. Substitute step 2 in 1
[Link] the equation in terms of derivative of x(t)
5. Form the matrices for both state variables and outputs
A Simple illustration
Consider the circuit shown in figure
() = initial voltage across Inductor
The current through inductor can be taken as a state variable
State Model
Consider a multi-input & multi-output system is having
m inputs 𝑢1(𝑡) , 𝑢2(𝑡) ,…….𝑢m(𝑡)
p outputs 𝑦1(𝑡) , 𝑦2(𝑡) ,…….𝑦p(𝑡)
n state variables 𝑥1(𝑡) , 𝑥2(𝑡),…….𝑥𝑛(𝑡)
The different variables may be represented by the vectors as shown below
u1(t) y1(t)
u (t) y (t)
Input vector U(t) = 2 ; Output vector Y(t) = 2
.. ..
um(t) yp(t)
x1(t)
x (t)
State variable vector X(t) = 2
..
xn(t)
State Equations of differential equations
The state variable representation can be arranged in the form of n
number of first order differential equations as shown below:
In vector notation,
Similarly the output vector Y(t) =f(X(t),U(t))
State Model of Linear System
The state model of a system consist of state equation and output
equation.
The state equation of a system is a function of state variables and i/ps.
For LTI systems, the first derivatives of state variables can be
expressed as a linear combination of sate variables and inputs
where the coefficients aij and bij are constants
Cont.…..
In the matrix form,
Ẋ(t) = A X(t) + B U(t)……… State equation
where,
A is state matrix of size (n×n)
B is the input matrix of size
(n×m)
X(t) is the state vector of size
(n×1) U(t) is the input vector of size
Output equation of differential equations
The output at any time are functions of state variables and input
output vector, Y(t) = f(x(t), U(t))
Hence the output variables can be expressed as a linear
combination of state variables and inputs.
y1= c11x1+c12x2+----+c1nxn + d11u1+d12u2+---+d1mum
y2 = c21x1+c22x2+----+c2nxn + d21u1+d22u2+---+d2mum
---
yp = cp1x1+cp2x2+----+cpnxn + dp1u1+dp2u2+---+dpmum
where the coefficients cij and dij are constants
Cont.…..
In the matrix form
Y(t) = C X(t) + D U(t)………….. output equation
where,
C is the output matrix of size (p×n)
D is the transmission matrix of size (p×m)
X(t) is the state vector of size (n×1)
Y(t) is the output vector of size (p×1)
U(t) is the input vector of size (m×1)
State Model
Can be represent in the form of state equation and output equation.
Ẋ(t) = A X(t) + B U(t) state equation
Y(t) = C X(t) + D U(t) output equation
Example 1
1. Consider the following series of the RLC circuit. It is
having an input voltage vi(t) and the current flowing
through the circuit is i(t).
Solution?
Cont.…..
Solution:
There are two storage elements (L and C ) in this circuit.
So, the number of the state variables is equal to two.
These state variables are the current flowing through the
inductor, i(t) and the voltage across capacitor, vc(t).
From the circuit, the output voltage, v0(t) is equal to the
voltage across capacitor, vc(t).
Cont.…
Y(t) = v0(t) = vc(t)
Apply KVL around the loop,
di(t
Vi(t) = R i(t) + L )
d
+ vc(t)
t
The voltage across the capacitor is
Differentiate the equation with respect to time,
Cont.…
Arrange the differential equations and output equation into standard
form of state space model as,
Example 2
2. Represent the electrical circuit shown by a state model
Solution
Since there are three energy storing elements, choose three state
variables to represent the systems
The current through the inductors i1, i2 and voltage across the
capacitor vc are taken as state variables.
Let the three sate variables be , and be related to physical quantities
as shown
Let, i1 = x1,
i2 = x2,
vc = x3
Cont..
Cont.…
The above equation is the State Equation
The Output equation is
Example 3
3. Given the circuit shown by a state model find all the required equation.
Cont..
Solution
Exercise
1. Obtain the state model for a system represented by an electrical
system as shown in figure, Let t) =
Answer
…….. The state equation
The output of the circuit is given by
………This is the output
equation
y(t) = (t) = (t)
Exercise
2. Represent the electrical network by a state equation
State representation using Phase variables
The phase variables are defined as those particular state variables
which are obtained from one of the system variables and its
derivatives.
Usually the variables used is the system output and the remaining
state variables are then derivatives of the output.
The state model using phase variables can be easily determined if
the system model is already known in the differential equation or
transfer function form.
Consider the following order linear differential equation
relating the output y(t) to the input u(t ) of a system.
Cont.…
Writing the above state equation in vector matrix form
Output equation can be written as
Problem
1. Construct a state model for a system
characterized by the differential equation
Also give the block diagram representation of the state model.
Cont.…
Solution:
Let us choose y and their derivatives as state
variables.
The system is governed by third order differential
equation,
so the number of state variables required are
three.
Cont.…
Let the state variables x1, x2 and x3 are related to phase variables as
follows.
Cont..
The state equations are
Arranging the state equations in the matrix form
Here y = output , But y = x1
Cont.….
The block diagram for the state model is
Exercise
1. Represent the differential equation given below in a
state model
Solution
The state equation is
The output equation is
Transformations of the state(Reading Assignment)
